Class CartesianConfiguration

• Defined in File cartesianconfiguration.h

Inheritance Relationships

Base Type

• public pilz_industrial_motion_planner_testutils::RobotConfiguration (Class RobotConfiguration)

Class Documentation

class CartesianConfiguration : public pilz_industrial_motion_planner_testutils::RobotConfiguration

Class to define a robot configuration in space with the help of cartesian coordinates.

Public Functions

CartesianConfiguration()

CartesianConfiguration(const std::string &group_name, const std::string &link_name, const std::vector<double> &config)

CartesianConfiguration(const std::string &group_name, const std::string &link_name, const std::vector<double> &config, const moveit::core::RobotModelConstPtr &robot_model)

inline virtual moveit_msgs::msg::Constraints toGoalConstraints() const override

virtual moveit_msgs::msg::RobotState toMoveitMsgsRobotState() const override

inline void setLinkName(const std::string &link_name)

inline const std::string &getLinkName() const

inline void setPose(const geometry_msgs::msg::Pose &pose)

inline const geometry_msgs::msg::Pose &getPose() const

inline geometry_msgs::msg::Pose &getPose()

inline void setSeed(const JointConfiguration &config)

inline const JointConfiguration &getSeed() const

inline bool hasSeed() const

States if a seed for the cartesian configuration is set.

inline void setPoseTolerance(const double tol)

inline const std::optional<double> getPoseTolerance() const

inline void setAngleTolerance(const double tol)

inline const std::optional<double> getAngleTolerance() const